CN105215038B - An umbilical cord unwinding device for an oil storage tank cleaning robot - Google Patents

Abstract

The invention discloses a kind of cleaning oil tank robot umbilical cables reeling-up reeling-out device, including：Power set, gearbox, bus ring case, Multi-channel rotating joint, reel and base, wherein, power set, gearbox and bus ring case are placed in reel side, and Multi-channel rotating joint is placed in opposite side；Power set are made up of hydraulic motor, shaft coupling and overload-release clutch；Gearbox uses bevel planet gear structure, and input shaft is vertically arranged to be connected with power set, and output shaft is horizontally disposed with, and one end is connected with the rotor flange of the bus ring of bus ring case, and one end is connected with reel；Explosion-proof bus ring and explosion-proof wiring box are provided with bus ring case；Multi-channel rotating joint includes three kinds of medium channels of hydraulic pressure Oil, Water, Gas；Base is provided with handrail, castor and lifting handwheel；Gear box and Multi-channel rotating joint fixed shell are fixed on base.Umbilical cables roll-up apparatus put the volume of umbilical cables with robot motion to match, it is ensured that robot work it is reliable and stable.

Description

An umbilical cord unwinding device for an oil storage tank cleaning robot

technical field

The invention relates to the field of oil storage tank cleaning equipment, in particular to an umbilical cord unwinding device for an oil storage tank cleaning robot, which belongs to the auxiliary equipment of the oil storage tank cleaning robot system.

Background technique

Utilizing storage tanks for storage is the main way of strategic petroleum reserves. During the long-term storage and transportation of refined oil storage tanks, a small amount of sand, soil, heavy metal salts and other impurities in the refined oil will settle and accumulate at the bottom of the storage tank together with water due to the density difference, forming a black and thick gel Substance, that is, oil storage tank bottom sludge. Impurities and moisture will reduce the quality of refined oil and affect the accuracy of oil product calculation; accelerate the corrosion of oil storage tanks, and in severe cases will cause perforation of the bottom plate, resulting in oil leakage accidents; generate and accumulate static electricity, resulting in static electricity accidents. In addition, when the oil product is upgraded or replaced with different oil products, the remaining oil in the tank and the newly loaded oil cannot be mixed, and when the oil storage tank leaks or is damaged in other ways, it needs to be inspected or hot repaired. The oil storage tank is cleaned, and at the same time according to the national regulations, the oil storage tank must also be cleaned and repaired regularly. The oil storage tank cleaning technology has gone through manual cleaning and mechanical cleaning successively. With the continuous improvement of people's requirements for the safety, efficiency, cost and environmental protection of oil storage tank cleaning operations, the oil storage tank cleaning robot technology is a kind of technology that does not require personnel to enter the tank. Cleaning technology has received more and more attention at home and abroad. Since most robots are driven by hydraulic pressure and cleaned by high-pressure water jets, they need to carry sensor lighting equipment, and an umbilical cable must be dragged at the rear of the robot; in order to prevent the umbilical cable from being entangled with the oil storage tank attachment, knotted in the middle, and crushed by the crawler of the robot , there must be equipment for unwinding the umbilical cable. As an auxiliary equipment used by the robot, the umbilical cable unwinder has become an indispensable part of the robot system for cleaning the oil storage tank.

Contents of the invention

Based on the above-mentioned problems in the prior art, the present invention provides an umbilical cable unwinding device for an oil storage tank cleaning robot, which can be used in conjunction with the oil storage tank cleaning robot to facilitate unwinding of the umbilical cable of the oil storage tank cleaning robot.

In order to solve the above technical problems, the present invention provides an umbilical cord unwinding device for an oil storage tank cleaning robot, including:

Base, reel, power unit, gearbox, collector slip ring box and multi-channel rotary joint; among them,

The gearbox is erected on the base through supports, and the gearbox adopts a gearbox in which a vertically arranged input shaft and a horizontally arranged output shaft are meshed through a planetary bevel gear structure;

The power unit is arranged on the gearbox and connected with the input shaft of the gearbox;

The collector slip ring box is arranged on the outside of the gearbox, and the rotor flange of the collector slip ring of the collector slip ring box is connected to the outer end of the output shaft of the gearbox,

The reel is arranged inside the gearbox, connected to the inner end of the output shaft of the gearbox, and can be driven by the output shaft of the gearbox to rotate;

The multi-channel rotary joint is fixed on the base and is on the other side of the reel. The multi-channel rotary joint is respectively provided with a hydraulic oil medium channel, a water medium channel and an air medium channel. The multi-channel rotary joint One end is connected to the reel, and one end connected to the reel is respectively provided for connecting the oil outlet of the hydraulic oil medium channel and the water medium channel of the robot umbilical cable unwound on the reel. A water port and an air outlet of the gas medium channel.

The beneficial effects of the present invention are as follows: the reel is driven by setting a power device and a gearbox on the base; The multi-channel swivel joint is used to transfer various medium pipelines in the umbilical cable, so that the device can roll out the umbilical cable of the oil storage tank cleaning robot. The structure of the unwinding device is not complicated, but it can easily cooperate with the cleaning robot to unwind the umbilical cable, so that the unwinding of the umbilical cable matches the action of the robot, ensuring the reliable and stable operation of the robot, and then completing the cleaning of the oil storage tank, improving It improves the convenience and efficiency of cleaning robots.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For Those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic isometric view of a winding and unwinding device provided by an embodiment of the present invention;

Fig. 2 is the front view of the unwinding device provided by the embodiment of the present invention;

Fig. 3 is the front view of the unwinding device provided by the embodiment of the present invention;

Fig. 4 is a cross-sectional view of the multi-channel rotary joint of the unwinding device provided by the embodiment of the present invention;

Fig. 5 is a side view of the multi-channel rotary joint of the unwinding device provided by the embodiment of the present invention;

Fig. 6 is a structure diagram of a collector slip ring of the winding and unwinding device provided by the embodiment of the present invention;

The parts corresponding to each label in Figure 1 are: 1-multi-channel rotary joint; 2-drum; 3-power device; 4-collector slip ring box; 5-gearbox; 6-base; 8- casters; 9- armrests;

The parts corresponding to each label in Figure 4 are: 10-water inlet; 11-collar; 12-oil and gas common inlet; 13-first bearing; 14-water outlet; 15-connecting flange; 16-process hole; 17-oil and gas common outlet; 18-first fixed housing; 181-rotary housing; 19-second bearing; 20-sealing ring; 201-second fixed housing;

The parts corresponding to each label in Figure 6 are: 21-rotor flange; 22-thrust ball bearing; 23-rotor; 24-stator; 25-stator slide; 26-insulator; Spring; 29-pressure plate; 30-dust cover; 31-pressure spring top wire; 32-insulation jacket; 33-rotor slide; 34-deep groove ball bearing.

detailed description

The following clearly and completely describes the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figures 1 to 3, the embodiment of the present invention provides an umbilical cord unwinding device for an oil storage tank cleaning robot, including: a base 6, a reel 2, a power unit 3, a gearbox 5, a collector slip ring box 4 and Multi-channel rotary joint 1;

Wherein, the gearbox 5 is erected on the base 6 through a support, and the gearbox 5 adopts a gearbox in which a vertically arranged input shaft and a horizontally arranged output shaft are meshed through a planetary bevel gear structure;

The power unit 3 is arranged on the gearbox 5 and connected with the input shaft of the gearbox 5;

The collector slip ring box 4 is arranged on the outside of the gearbox 5, and the rotor flange 21 of the collector slip ring box 4 is connected with the outer end of the output shaft of the gearbox 5,

The reel 2 is arranged inside the gearbox 5, is connected with the inner end of the output shaft of the gearbox 5, and can rotate under the drive of the output shaft of the gearbox 5;

The multi-channel rotary joint 1 is fixed on the base and is on the other side of the reel 2. The multi-channel rotary joint 1 is respectively provided with a hydraulic oil medium channel, a water medium channel and an air medium channel. One end of the multi-channel rotary joint 1 is connected to the The reel 2 is connected, and one end of the connecting reel is respectively provided with the oil outlet of the hydraulic oil medium passage, the water outlet of the water medium passage and the air outlet of the air medium passage of the robot umbilical cable unwound on the reel.

Above-mentioned unwinding device, power unit 3 is made up of hydraulic motor, shaft coupling and safety clutch;

The above-mentioned unwinding device, the current collecting slip ring box 4 is provided with an explosion-proof current collecting slip ring and a first explosion-proof junction box, and also includes a second explosion-proof junction box fixed outside the current collecting slip ring box 4 and arranged on the reel 2, The first explosion-proof junction box is connected to the electrical interface of the stator vane of the explosion-proof collector slip ring through an explosion-proof cable, and the electrical interface of the rotor vane of the explosion-proof collector slip ring is electrically connected to the second explosion-proof junction box through an explosion-proof cable;

The first explosion-proof junction box is provided with a cable connector for connecting external cables; the second explosion-proof junction box is provided with an umbilical cable electrical connector for connecting the robot umbilical cable rolled on the reel 2 .

As shown in Figure 6, the explosion-proof collector slip ring in the winding and unwinding device includes: rotor flange 21, thrust ball bearing 22, rotor 23, stator 24, stator slide 25, insulator 26, compression spring 28, compression plate 29, Dust cover 30, pressure spring top wire 31, insulating jacket 32, rotor slide 33 and deep groove ball bearing 34;

Among them, the stator 24 is fixed on the box body of the current collector slip ring box 4 by screws, one end of the stator 24 protrudes out of the box body and presses the rotor flange through the thrust ball bearing 22, and the other end of the stator 24 is connected to the dustproof The cover 30 is connected;

The interior of the stator is a hollow structure, one side of the interior is matched with the rotor 23 through a deep groove ball bearing 34, and the other side of the interior is connected with the insulating jacket 32; the stator 24 is provided with a cable channel;

Grooves are provided on the insulating jacket 32;

The interior of the rotor 23 is a hollow structure, one end of the rotor 23 is connected to the rotor flange 21, and the rotor 23 is provided with grooves;

The stator slide 25 is embedded in the groove of the insulating jacket 32, and the stator slide 25 is provided with an electrical interface;

The rotor slide 33 is embedded in the groove of the rotor, and the rotor slide 33 is provided with an electrical interface;

Stator vanes 25, rotor vanes 33 and insulators 26 are sequentially stacked concentrically to form a slip ring arrangement structure 27;

The pressing plate 29 is connected with the insulating jacket 32 , and the center of the pressing plate 29 is provided with a compression spring top wire 31 capable of adjusting the axial position of the compression spring, which can compress the slip ring arrangement 27 .

The explosion-proof current collector slip ring with the above-mentioned structure facilitates the effective electrical connection of the dynamic and static gas joints, and ensures the safety and stability of the winding and unwinding device.

The multi-channel rotary joint 1 in the above-mentioned unwinding device includes: a first fixed housing 18, a second fixed housing 201, a connecting flange 15, a rotating housing 181, a first bearing 13, a second bearing 19, and a collar 11 and sealing ring 20;

Wherein, the inside of the first fixed housing 18 is a hollow structure, its front end is open, and the rear end is provided with the first bearing 13 pressed by the connecting flange 15. The first fixed housing 18 is provided with a common inlet 12 for oil and gas. The inner surface of the hollow structure of the first fixed housing 18 is provided with corresponding through annular grooves;

There are several hollow passages inside the rotating housing 181, and one end of the rotating housing 181 is arranged in the hollow structure of the first fixed housing 18 through the first bearing 13 and the second bearing 19, and can freely move in the first fixed housing 18. Rotate, the front end of the rotating housing 181 is set in the hollow structure of the second fixed housing 201; the rear end of the rotating housing 181 is connected to the connecting flange 15;

The inside of the second fixed housing 201 is a hollow structure, and the second fixed housing 201 is provided with a water inlet 10 and a first hollow channel connected with the inside of the rotating housing 181;

The connecting flange 15 is provided with a second hollow channel connected to the rotating housing 181, and the outer ring surface of the connecting flange 15 is provided with a water outlet 14 and a common oil and gas outlet 17 communicating with the second hollow channel in the connecting flange 15. ;

The water inlet 10 on the second fixed housing 201 and the first hollow channel, the hollow channel in the rotating housing 181, the connecting flange 15 and the water outlet 14 on it and the second hollow channel communicate with each other to form a multi-channel rotary joint 1 water medium channel;

The oil and gas common inlet 12 of the first fixed housing 18 communicates with the annular groove in the first fixed housing 18 , the hollow channel in the rotating housing 181 and the oil and gas common outlet 17 on the connecting flange 15 , Constitute the oil and gas medium channels of the multi-channel rotary joint 1;

The collar 11 is sleeved outside the rotating housing 181 and is located on the outer end surface of the second bearing 19;

The sealing ring 20 is arranged on the contact surface between the rotating housing 181 and the second fixed housing 201;

The first fixed shell 18 and the second fixed shell 201 are fixed on the bracket of the base 6 by screws, and the connecting flange 15 is fixed on the reel 2 by screws.

A process hole 16 is provided on the connecting flange of the above-mentioned multi-channel rotary joint 1 .

The multi-channel rotary joint 1 with the above-mentioned structure effectively integrates the medium channels of water, oil and gas, and realizes the stable connection of the dynamic and static joints, so that the unwinding device can better cooperate with the cleaning robot.

In the above winding and unwinding device, the explosion-proof current collecting slip ring in the current collecting slip ring box, the horizontal output shaft of the gearbox, the reel 2, the fixed shaft and the rotating shaft of the multi-channel rotary joint are on the same horizontal axis; the hydraulic motor The output shaft and the gearbox input shaft are on the same vertical axis.

In the above-mentioned unwinding device, the base 6 is two layers up and down, and a lifting mechanism is provided between the two layers. The upper layer is provided with a handrail 9 and a lifting hand wheel 7 connected with the lifting mechanism, and the bottom of the lower floor is provided with a caster 8.

The unwinding device of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, this embodiment provides an umbilical cable unwinding device for an oil storage tank cleaning robot, which is used to control the unwinding of the oil storage tank cleaning robot umbilical cable, and belongs to the auxiliary equipment of the oil storage tank cleaning robot system, including: Power device, gearbox, collector slip ring box, multi-channel rotary joint, reel and base, wherein the power device, gearbox and collector slip ring box are placed on one side of the drum, and the multi-channel rotary joint is placed on the other side; the power unit is composed of a hydraulic motor, coupling and safety clutch; the gearbox adopts a planetary bevel gear structure, the input shaft is vertically connected to the power unit, the output shaft is horizontally set, and one end is connected to the collector slip ring rotor flange connection, one end is connected with the reel; the collector slip ring box is equipped with an explosion-proof collector slip ring and an explosion-proof junction box; the multi-channel rotary joint includes three media channels of hydraulic oil, water and air; the base is equipped with handrails, casters and Lifting handwheel; gearbox case and multi-channel rotary joint housing are fixed on the base.

In the above unwinding device, the power unit is composed of a hydraulic motor, a coupling and a safety clutch; the hydraulic motor is a quantitative motor, and a safety clutch is installed between the hydraulic motor and the input shaft of the gearbox, which will automatically disconnect when the reel torque is overloaded. Protect the umbilical cable; the power unit ensures that the umbilical cable between the unwinder and the robot is always in tension; the power unit is connected to the hydraulic pump station in the oil storage tank cleaning robot system, and is controlled by the hydraulic valve integrated on the hydraulic pump station For control, the power unit provides power and overload protection for the unwinder.

In the above unwinding device, the gearbox adopts a planetary bevel gear structure, the input shaft is vertically arranged to connect with the power device, the output shaft is arranged horizontally, one end is connected with the collector slip ring rotor flange, and the other end is connected with the reel; The lower part of the box body is fixed on the support frame of the base, the upper part is fixed with the power unit casing, and the horizontal side is fixed with the current collector slip ring box body; the gearbox adjusts the speed range of the hydraulic motor to the working requirements of the reel scope.

In the above winding and unwinding device, an explosion-proof current collecting slip ring and an explosion-proof junction box are arranged in the current collecting slip ring box, and the explosion-proof current collecting slip ring is connected to the explosion-proof junction box through an explosion-proof cable; the external cable is connected to the The explosion-proof junction box is connected to another explosion-proof junction box fixed on the reel through the explosion-proof collector slip ring, and finally connected to the inner cable of the umbilical cable; Reach the corresponding explosion-proof level requirements. The structure of the explosion-proof collector slip ring is shown in Figure 6, including: rotor flange, thrust ball bearing, rotor, stator, stator slide, insulator, compression spring, pressure plate, dust cover, compression spring top wire, insulating jacket, Rotor slides, deep groove ball bearings. The stator is fixed on the current collector slip ring box body by screws, one end of the stator is set outside the box body and pressed against the rotor flange through a thrust ball bearing, and the other end is connected to the dust cover; the interior is a hollow structure, and the stator is a One side is matched with the rotor through deep groove ball bearings, and the other side is connected with the insulating jacket; there is a cable channel on the stator; the inside of the rotor is hollow, one end is connected to the rotor flange, and the rotor is provided with grooves; the stator slides It is embedded in the groove provided by the insulating jacket and has an electrical interface; the rotor slide is embedded in the rotor groove and has an electrical interface; the stator slide, the rotor slide and the insulator are stacked concentrically in sequence to form a slide Ring arrangement structure; the pressure plate is connected with the insulating jacket, and the center is provided with a compression spring top wire to adjust the axial position of the compression spring, and then compress the slip ring arrangement structure.

In the above unwinding device, the structure of the multi-channel rotary joint is shown in Figures 4 and 5. The multi-channel rotary joint includes: a first fixed housing, a second fixed housing, a connecting flange, a rotating housing, and a first bearing , the second bearing, collar and sealing ring; the first fixed shell is hollow; its front end is open, the rear end is provided with the first bearing and the connecting flange, the connecting flange presses the first bearing, and the first fixed shell There is a common inlet for oil and gas, and a corresponding through annular groove is opened on the inner surface. The common inlet for oil and gas communicates with the annular groove; the second fixed shell is a hollow structure with a water inlet and a rotating The first hollow passage through the casing; there are several hollow passages inside the rotating casing, and one end is arranged in the hollow structure of the first fixed casing through the first bearing and the second bearing, and can rotate freely in the first fixed casing. The front end of the rotating housing is arranged outside the first fixed housing and in the hollow structure of the second fixed housing, and the rear end is connected to the connecting flange; the connecting flange is provided with a second hollow passage through the rotating housing. The outer ring surface of the connecting flange is provided with a water outlet and a common outlet for oil and gas communicating with the second hollow channel in the connecting flange; the water inlet on the second fixed shell and the first hollow channel, The hollow channel, the water outlet on the connecting flange and the second hollow channel communicate with each other to form the water medium channel of the multi-channel rotary joint; the oil and gas common inlet on the first fixed shell and the annular ring in the first fixed shell The groove, the hollow passage in the rotating housing, and the common oil and gas outlet on the connecting flange are connected with each other to form the oil and gas medium channels of the multi-channel rotary joint; the collar is sleeved outside the rotating housing, at the outer end surface of the second bearing The sealing ring is arranged at the contact surface between the rotating shell and the second fixed shell; the first fixed shell and the second fixed shell are fixed on the bracket of the base by screws, and the connecting flange 15 is fixed on the reel by screws . There is enough joint installation space between the oil and gas common inlet and outlet, and each medium channel is well sealed to prevent medium leakage; the multi-channel rotary joint with this structure realizes different media and different numbers of hoses. Roll out.

In the above winding and unwinding device, the collector slip ring, the output shaft of the gearbox, the reel, the fixed shaft and the rotating shaft of the multi-channel rotary joint are all on the same horizontal axis; the output shaft of the hydraulic motor and the input shaft of the gearbox are on the same vertical axis ; During installation, the installation accuracy should be as high as possible, so that the unwinder can run smoothly and quietly.

In the above unwinding device, the base is equipped with handrails, casters and lifting handwheels; it can be conveniently hoisted during transportation, and casters can be used to move on flat ground and gentle slopes. When the unwinder is working, shake the lifting handwheels It can support the base, and rely on the friction generated by its own weight to fix the base; the base not only supports the upper structure, but also solves the overall transportation, movement and fixing problems.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person familiar with the technical field can easily conceive of changes or changes within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (7)

1. The utility model provides a device is put to oil storage tank cleaning robot umbilical cord cable book which characterized in that includes:

the device comprises a base (6), a winding drum (2), a power device (3), a gearbox (5), a current collection slip ring box (4) and a multi-channel rotary joint (1); wherein,

the gearbox (5) is arranged on the base (6) through a support frame, and the gearbox (5) is formed by meshing a vertically arranged input shaft and a horizontally arranged output shaft through a planetary bevel gear structure;

the power device (3) is arranged on the gearbox (5) and is connected with an input shaft of the gearbox (5);

the collector slip ring box (4) is arranged outside the gear box (5), a rotor flange (21) of a collector slip ring of the collector slip ring box (4) is connected with the outer end of an output shaft of the gear box (5),

the winding drum (2) is arranged on the inner side of the gearbox (5), is connected with the inner end of an output shaft of the gearbox (5), and can rotate under the driving of the output shaft of the gearbox (5);

multichannel rotary joint (1) is fixed to be established on the base, be in the opposite side of reel (2) is equipped with hydraulic oil medium passageway, aqueous medium passageway and gaseous medium passageway in this multichannel rotary joint (1) respectively, this multichannel rotary joint (1) one end with reel (2) are connected, connect the one end of reel is established respectively and is used for connecting the robot umbilical cable that rolls up on the reel hydraulic oil medium passageway's oil-out, the delivery port of aqueous medium passageway with the gas outlet of gaseous medium passageway.

2. The umbilical cable reeling and unreeling device of the oil storage tank cleaning robot as claimed in claim 1, wherein the power device (3) is composed of a hydraulic motor, a coupling and a safety clutch; the power output shaft of the hydraulic motor is connected with a safety clutch through a coupler, and the safety clutch is connected with the input shaft of the gearbox (5).

3. The umbilical cable reeling and unreeling device of the oil storage tank cleaning robot as claimed in claim 1, wherein an explosion-proof collecting slip ring and a first explosion-proof junction box are arranged in the collecting slip ring box (4), and the umbilical cable reeling and unreeling device further comprises a second explosion-proof junction box which is arranged outside the collecting slip ring box (4) and fixedly arranged on the winding drum (2), wherein the first explosion-proof junction box is connected with an electrical interface of a stator slip sheet of the explosion-proof collecting slip ring through an explosion-proof cable, and an electrical interface of a rotor slip sheet of the explosion-proof collecting slip ring is electrically connected with the second explosion-proof junction box through an explosion-proof cable;

the first explosion-proof junction box is provided with a cable joint connected with an external cable; the second explosion-proof junction box is provided with an umbilical cable electrical connector which is connected with the robot umbilical cable coiled and uncoiled on the coiling drum (2).

4. The umbilical cable reeling and unreeling device of the oil storage tank cleaning robot as claimed in claim 3, wherein the explosion-proof collecting slip ring comprises:

the device comprises a rotor flange (21), a thrust ball bearing (22), a rotor (23), a stator (24), a stator slide sheet (25), an insulator (26), a pressure spring (28), a pressure plate (29), a dust cover (30), a pressure spring jackscrew (31), an insulating outer sleeve (32), a rotor slide sheet (33) and a deep groove ball bearing (34); wherein,

the stator (24) is fixed on a box body of the slip ring box (4) through screws, one end of the stator (24) extends out of the box body and presses a rotor flange through a thrust ball bearing (22), and the other end of the stator (24) is connected with the dust cover (30);

the interior of the stator is of a hollow structure, one side of the interior of the stator is matched with the rotor (23) through the deep groove ball bearing (34), and the other side of the interior of the stator is connected with the insulating outer sleeve (32); the stator (24) is provided with a cable channel;

a groove is arranged on the insulating outer sleeve (32);

the interior of the rotor (23) is of a hollow structure, one end of the rotor (23) is connected with the rotor flange (21), and a groove is formed in the rotor (23);

the stator sliding sheet (25) is embedded in the groove of the insulating outer sleeve (32), and the stator sliding sheet (25) is provided with an electrical interface;

the rotor sliding sheet (33) is embedded in the groove of the rotor, and the rotor sliding sheet (33) is provided with an electrical interface;

the stator sliding sheets (25), the rotor sliding sheets (33) and the insulators (26) are sequentially and concentrically stacked to form a sliding ring arrangement structure (27);

the pressing plate (29) is connected with the insulating outer sleeve (32), a pressure spring jackscrew (31) capable of adjusting the axial position of the pressure spring is arranged in the center of the pressing plate (29), and the sliding ring arrangement structure (27) can be pressed.

5. An umbilical reeling and unreeling device for a cleaning robot for oil storage tanks according to claim 1, characterized in that the multi-channel swivel joint (1) comprises:

the device comprises a first fixed shell (18), a second fixed shell (201), a connecting flange (15), a rotating shell (181), a first bearing (13), a second bearing (19), a clamping ring (11) and a sealing ring (20); wherein,

the first fixed shell (18) is internally of a hollow structure, the front end of the first fixed shell is opened, the rear end of the first fixed shell is provided with the first bearing (13) pressed by the connecting flange (15), the first fixed shell (18) is provided with an oil and gas common inlet (12), and the inner surface of the hollow structure of the first fixed shell (18) is provided with a corresponding through annular groove;

a plurality of hollow channels are formed in the rotating shell (181), one end of the rotating shell (181) is arranged in the hollow structure of the first fixed shell (18) through the first bearing (13) and the second bearing (19) and can freely rotate in the first fixed shell (18), and the front end of the rotating shell (181) is arranged in the hollow structure of the second fixed shell (201); the rear end of the rotary shell (181) is connected with a connecting flange (15);

the second fixed shell (201) is of a hollow structure, and a water inlet (10) and a first hollow channel communicated with the inside of the rotary shell (181) are formed in the second fixed shell (201);

a second hollow channel communicated with the inside of the rotary shell (181) is arranged inside the connecting flange (15), and a water outlet (14) communicated with the second hollow channel inside the connecting flange and an oil and gas common outlet (17) are arranged on the outer ring surface of the connecting flange (15);

the water inlet (10) and the first hollow channel on the second fixed shell (201), the hollow channel in the rotary shell (181), the connecting flange (15) and the water outlet (14) on the connecting flange are communicated with the second hollow channel to form a water medium channel of the multi-channel rotary joint (1);

the oil and gas shared inlet (12) of the first fixed shell (18) is communicated with the annular groove in the first fixed shell (18), the hollow channel in the rotary shell (181) and the oil and gas shared outlet (17) on the connecting flange (15) to form an oil and gas medium channel of the multi-channel rotary joint (1);

the clamping ring (11) is sleeved outside the rotating shell (181) and is positioned on the outer end face of the second bearing (19);

the sealing ring (20) is arranged on the contact surface of the rotating shell (181) and the second fixed shell (201);

the first fixing shell (18) and the second fixing shell (201) are fixed on a support of the base (6) through screws, and the connecting flange (15) is fixed on the winding drum (2) through screws.

6. The umbilical cable reeling and unreeling device of the oil storage tank cleaning robot as claimed in any one of claims 1 to 5, wherein the explosion-proof collecting slip ring in the collecting slip ring box, the horizontally arranged output shaft of the gearbox, the winding drum (2), the fixed shaft of the multi-channel rotary joint and the rotating shaft are on the same horizontal axis; the hydraulic motor output shaft and the gearbox input shaft are on the same vertical axis.

7. The umbilical cable reeling and unreeling device of the oil storage tank cleaning robot as claimed in any one of claims 1 to 5, wherein the base (6) is divided into an upper layer and a lower layer, a lifting mechanism is arranged between the two layers, the upper layer is provided with a handrail (9) and a lifting hand wheel (7) connected with the lifting mechanism, and the bottom of the lower layer is provided with a caster wheel (8).